The Synthesis of Stable Force-Closure Grasps

This thesis addresses the problem of synthesizing grasps that are force-closure and stable. The synthesis of force-closure grasps constructs independent regions of contact for the fingertips, such that the motion of the grasped object is totally constrained. The synthesis of stable grasps constructs virtual springs at the contacts, such that the grasped object is stable, and has a desired stiffness matrix about its stable equilibrium. A grasp on an object is force-closure if and only if we can exert, through the set of contacts, arbitrary forces and moments on the object. So force-closure implies equilibrium exists because zero forces and moment is spanned. In the reverse direction, we prove that a non-marginal equilibrium grasp is also a force-closure grasp, if it has at least two point contacts with friction in 2D, or two soft-finger contacts or three hard-finger contacts in 3D. Next, we prove that all force-closure grasps can be made stable, by using either active or passive springs at the contacts. The thesis develops a simple relation between the stability and stiffness of the grasp and the spatial configuration of the virtual springs at the contacts. The stiffness of the grasp depends also on whether the points of contact stick, or slide without friction on straight or curved surfaces of the object. The thesis presents fast and simple algorithms for directly constructing stable fore-closure grasps based on the shape of the grasped object. The formal framework of force-closure and stable grasps provides a partial explanation to why we stably grasp objects to easily, and to why our fingers are better soft than hard.

The Influence of Friction Stir Welding Process Idealization on Residual Stress and Distortion Predictions for Future Airframe Assembly Simulations

The ability to accurately predict residual stresses and resultant distortions is a key product from process assembly simulations. Assembly processes necessarily consider large structural components potentially making simulations computationally expensive. The objective herein is to develop greater understanding of the influence of friction stir welding process idealization on the prediction of residual stress and distortion and thus determine the minimum required modeling fidelity for future airframe assembly simulations. The combined computational and experimental results highlight the importance of accurately representing the welding forging force and process speed. In addition, the results emphasize that increased CPU simulation times are associated with representing the tool torque, while there is potentially only local increase in prediction fidelity.

Atom cooling using the dipole force of a single retroreflected laser beam

We present a mechanism for cooling atoms by a laser beam reflected from a single mirror. The cooling relies on the dipole force and thus in principle applies to arbitrary refractive particles including atoms, molecules, or dielectric spheres. Friction and equilibrium temperatures are derived by an analytic perturbative approach. Finally, semiclassical Monte-Carlo simulations are performed to validate the analytic results.

Statistical-mechanical description of classical test-particle dynamics in the presence of an external force field: modelling noise and damping from first principles

Aiming to establish a rigorous link between macroscopic random motion (described e.g. by Langevin-type theories) and microscopic dynamics, we have undertaken a kinetic-theoretical study of the dynamics of a classical test-particle weakly coupled to a large heat-bath in thermal equilibrium. Both subsystems are subject to an external force field. From the (time-non-local) generalized master equation a Fokker-Planck-type equation follows as a "quasi-Markovian" approximation. The kinetic operator thus defined is shown to be ill-defined; in specific, it does not preserve the positivity of the test-particle distribution function f(x, v; t). Adopting an alternative approach, previously introduced for quantum open systems, is proposed to lead to a correct kinetic operator, which yields all the expected properties. A set of explicit expressions for the diffusion and drift coefficients are obtained, allowing for modelling macroscopic diffusion and dynamical friction phenomena, in terms of an external field and intrinsic physical parameters.

A Comparative Study Of Tensile And Microstructural Characteristics Of Friction Welded Joints And Conventionally Welded Joints Of Aluminium Alloy 6061

Welding of high strength and low weight materials like Aluminium Alloys without any defects by conventional welding techniques is a major challenge in industries. Hence research on solid state welding techniques like Friction stir welding and Friction welding techniques have got much importance in joining of Aluminium alloys. However most of the industries are not changing conventional techniques as skilled workers are available on that area. Most common conventional welding techniques used for joining of Aluminium alloys are Gas welding and Arc welding. Friction welding is a solid-state welding process that generates heat through mechanical friction between a moving and a stationary component with the addition of a lateral force called “upset” to plast ically displace and fuse the materials. In this work, experimental study on tensile and micro structural characteristics of welded joints formed from conventional welding techniques and Rotary friction welding(suitable for weld specimens with circular cross section) has been carried out and the same were compared. The process parameters for arc welding used was 50-70 Amp reverse polarity DC and electrodes of 2.3mm diameter. In Gas welding, the parameters were oxy acetylene neural flame at 3200°C and 3mm electrodes . In the case of friction welding an axial pressure loading of 3Mpa with 5 MPa as upsetting pressure and 500 rpm were used to obtain good welded joints. Tensile characteristic studies of Arc welded joints and Gas welded joints showed 48% and 60 % variations respectively from the maximum load bearing characteristics of parent metal. In the case of friction welded joint, the variation was found to 46%. Micro structural evaluation of conventionally welded joints exhibited clear distinct zones of various weld regions. In the case of friction welded joint micro structural photographs showed comparable features both in parent metal and welded region. Thus the tensile characteristic study and microstructure evaluations proved that friction welded joints are good in both aspects compared to conventionally welded joints.

Debris, Roughness and Friction of Stainless Steel Archwires Following Clinical Use

Objective: To investigate the degree of debris, roughness, and friction of stainless steel orthodontic archwires before and after clinical use.Materials and Methods: For eight individuals, two sets of three brackets (n = 16) each were bonded from the first molar to the first premolar. A passive segment of 0.019- x 0.025-inch stainless steel archwire was inserted into the brackets and tied by elastomeric ligature. Debris level (via scanning electron microscopy), roughness, and frictional force were evaluated as-received and after 8 weeks of intraoral exposure. Mann-Whitney, Wilcoxon signed-rank, and Spearman correlation tests were used for statistical analysis at the .05 level of significance.Results: There were significant increases in the level of debris (P = .0004), roughness of orthodontic wires (P = .002), and friction (P = .0001) after intraoral exposure. Significant positive correlations (P < .05) were observed between these three variables.Conclusion: Stainless steel rectangular wires, when exposed to the intraoral environment for 8 weeks, showed a significant increase in the degree of debris and surface roughness, causing an increase in friction between the wire and bracket during the mechanics of sliding. (Angle Orthod. 2010;80:521-527.)

Friction and wear properties of functionally graded aluminum matrix composites

Aluminum matrix composites are currently considered as promising materials for tribological applications in the automotive, aircraft and aerospace industries due to their great advantage of a high strength-to-weight ratio. A superior combination of surface and bulk mechanical properties can be attained if these composites are processed as functionally graded materials (FGM's). In this work, homogeneous aluminum based matrix composite, cast by gravity, and aluminum composites with functionally graded properties, obtained by centrifugal cast, are tested against nodular cast iron in a pin-on-disc tribometer. Three different volume fractions of SiC reinforcing particles in each FGM were considered in order to evaluate their friction and wear properties. The sliding experiments were conducted without lubrication, at room temperature, under a normal load of 5 N and constant sliding speed of 0.5 ms-1. The worn surfaces as well as the wear debris were characterized by SEM/EDS and by atomic force microscopy (AFM). The friction coefficient revealed a slightly decrease (from 0.60 to 0.50) when FGM's are involved in the contact instead of the homogeneous composite. Relatively low values of the wear coefficient were obtained for functionally graded aluminum matrix composites (≈10-6 mm3N-1 m-1), which exhibited superior wear resistance than the homogeneous composite and the opposing cast iron surface. Characterization of worn surfaces indicated that the combined effect of reinforcing particles as load bearing elements and the formation of protective adherent iron-rich tribolayers has a decisive role on the friction and wear properties of aluminum matrix composites.

Equations for the Drag Force and Aerodynamic Roughness Length of Urban Areas with Random Building Heights

We use a conceptual model to investigate how randomly varying building heights within a city affect the atmospheric drag forces and the aerodynamic roughness length of the city. The model is based on the assumptions regarding wake spreading and mutual sheltering effects proposed by Raupach (Boundary-Layer Meteorol 60:375-395, 1992). It is applied both to canopies having uniform building heights and to those having the same building density and mean height, but with variability about the mean. For each simulated urban area, a correction is determined, due to height variability, to the shear stress predicted for the uniform building height case. It is found that u (*)/u (*R) , where u (*) is the friction velocity and u (*R) is the friction velocity from the uniform building height case, is expressed well as an algebraic function of lambda and sigma (h) /h (m) , where lambda is the frontal area index, sigma (h) is the standard deviation of the building height, and h (m) is the mean building height. The simulations also resulted in a simple algebraic relation for z (0)/z (0R) as a function of lambda and sigma (h) /h (m) , where z (0) is the aerodynamic roughness length and z (0R) is z (0) found from the original Raupach formulation for a uniform canopy. Model results are in keeping with those of several previous studies.

Relationship of locked wheel friction to that of other test modes. Final report.

Pennsylvania Department of Transportation, Bureau of Materials, Testing and Research, Harrisburg

Experimental and theoretical study of low-temperature internal friction in copper.

"Contract no. AF 18(600) 1000. File no. 10-16. AFOSR-TR-58-92. ASTIA AD 162133. Cornell University, Department of Engineering Physics."

An investigation of low temperature internal friction in metals.

"Contract no. AF 18(600) 1000. File no. 10-16. AFOSR-TR-57-69. ASTIA AD 136597. Cornell University, Department of Engineering Physics.

Skin friction, heat transfer, and pressure measurements on hypersonic inlet compression surfaces in the Mach number range 7.5 to 16.

Cornell Aeronautical Laboratory, Inc., Buffalo. Report no. AA-1948-Y-3

Research on developing design criteria for anti-friction airframe bearings for high temperature use.

"This report was prepared by the Research and Development Department of the New Departure Division, General Motors Corporation in Bristol, Connecticut."

Internal friction studies in impurity-doped single copper crystals.

"Contract no. AF 18(600) 1000. File no. 10-16. AFOSR-TR-57-11. ASTIA AD 120411. Cornell University, Department of Engineering Physics."